2012/03/20 by Hyon Lim, Lim, Hyon, Hyeonbeom Lee +3
Computer Science · Engineering · #Advanced Vision and Imaging #FOS: Computer and information sciences #Optical Wireless Communication Technologies #Robotics (cs.RO) #Video Coding and Compression Technologies
paper · pdf · doi:10.48550/arxiv.1203.4349
openalex publication_date 2012/03/20 · openalex created_date 2019/06/27 · openalex updated_date 2026/07/28
This paper considers onboard control of a small-sized quadrotor using a strapdown embedded optical flow sensor which is conventionally used for desktop mice. The vehicle considered in this paper can carry only few dozen grams of payload, therefore conventional camera-based optical flow methods are not applicable. We present hovering control of the small-sized quadrotor using a single-chip optical flow sensor, implemented on an 8-bit microprocessor without external sensors or communication with a ground control station. Detailed description of all the system components is provided along with evaluation of the accuracy. Experimental results from flight tests are validated with the ground-truth data provided by a high-accuracy reference system.